function mix = transformGMM3DRigid(state, mix)

expmap = state(4:6);
rot = quat2rotmat(expmap2quat(expmap));

mix.centres = [rot*mix.centres']' + repmat(state(1:3), mix.ncentres, 1);
for i = 1:mix.ncentres
    mix.covars(:, :, i) = rot*mix.covars(:, :, i)*rot';
end